smushed!

• smush your plastic bottles and aluminum cans.

before building

• check if main_conf.ini file configuration is correct with arduino serial port.
• check if model_conf.ini file configuration is correct with model configuration.

requirement for building

• USB Camera

• Arudino UNO (or any type that can do serial transmitting)

• 1920x1080 FHD 24inch screen

• Any step motor that can do 50kg/cm torque

• 2 mini type conveyor

• F6: led test renderer

• F8: toggle autoplay for 4K and catch gameplay.

• -: open the original test-mode interface.

sensor IO software reset

• Flash hardware/arduino/sensor_io/sensor_io.ino to a classic AVR Arduino, such as an Uno R3.
• Send reset_soft followed by a newline at 9600 baud (Serial Monitor: Newline or Both NL & CR), or call sensor_io.write_command("reset_soft") on the corresponding SerialIO instance.
• The board stops the crusher and conveyor, replies resetting, and reboots through the watchdog. Startup then runs the crusher backward for MOTOR_RESET_TIME (3000 ms) before accepting detection commands. This is a timed return, without position feedback.

Detection commands (obj1_detect or obj2_detect, followed by a newline) run the conveyor for CONV_FORWARD_FOR (6500 ms). Once the conveyor stops, the crusher runs forward for MOTOR_RUNNING_FOR, pauses for MOTOR_BRAKE_FOR, and returns backward for MOTOR_RUNNING_FOR. Further detections are rejected until the cycle and stop interval finish; reset_soft remains available throughout.

Conveyor stepper wiring

The sensor IO firmware controls one four-wire bipolar stepper using both bridges of one L298N, replacing the previous two-DC-motor L298NX2 control. Both object commands run this same motor. Keep ConveyorStepper.h beside sensor_io.ino when opening or copying the sketch. The TM1637 display library is still required; L298N library installation is no longer required for this sketch.

With the 12 V supply and Arduino USB disconnected, wire:

Arduino / motor	L298N
D8	IN1
D9	IN2
D10	IN3
D11	IN4
D12	ENA, with the ENA jumper removed
D13	ENB, with the ENB jumper removed
One complete motor coil pair	OUT1 and OUT2
Other complete motor coil pair	OUT3 and OUT4
Arduino GND and DC supply negative	GND
DC supply positive	Motor supply terminal marked 12V

ENA/ENB jumpers are separate from the module's 5V regulator jumper. Follow your specific module's instructions for the regulator and 5V logic supply; do not connect 12 V to a 5V terminal. Identify coil pairs with resistance measurements, not wire colors.

The controller generates nonblocking half steps by default (CONV_HALF_STEP = true) to reduce the size of each movement. CONV_STEPS_PER_SECOND remains a full-step-equivalent rate (currently 300): half-step mode emits twice as many steps for the same nominal shaft speed. For a 200-full-step/revolution motor, 300 means approximately 90 RPM. This is a step rate, not PWM or a current setting. A startup ramp shortens the step interval from CONV_START_STEPS_PER_SECOND (50 full steps/s) toward the target over CONV_RAMP_MS (1000 ms). It is not constant acceleration. Set CONV_HALF_STEP to false for two-phase full steps, or CONV_RAMP_MS to zero to disable the ramp. Half-stepping alternates one and two energized coils without current compensation, so torque can vary; it cannot guarantee smooth running or fix incorrect wiring/current. The ramp helps startup, not resonance during steady running.

Set CONV_REVERSE to true if the conveyor turns the wrong way. The controller releases both coils at boot, on timed stop, and before software reset. Serial reset remains responsive; delayed loop updates do not generate a burst of catch-up steps. The 6500 ms conveyor duration includes the ramp, so a run travels slightly less than starting instantly at the target rate.